CA2188078C - Motion tracking apparatus for driverless vehicle - Google Patents

Motion tracking apparatus for driverless vehicle Download PDF

Info

Publication number
CA2188078C
CA2188078C CA002188078A CA2188078A CA2188078C CA 2188078 C CA2188078 C CA 2188078C CA 002188078 A CA002188078 A CA 002188078A CA 2188078 A CA2188078 A CA 2188078A CA 2188078 C CA2188078 C CA 2188078C
Authority
CA
Canada
Prior art keywords
vehicle
caster
sensor
wheel
information supplied
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CA002188078A
Other languages
English (en)
French (fr)
Other versions
CA2188078A1 (en
Inventor
Cornell W. Alofs
Ronald R. Drenth
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jervis B Webb Co
Original Assignee
Jervis B Webb Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jervis B Webb Co filed Critical Jervis B Webb Co
Publication of CA2188078A1 publication Critical patent/CA2188078A1/en
Application granted granted Critical
Publication of CA2188078C publication Critical patent/CA2188078C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
CA002188078A 1995-10-18 1996-10-17 Motion tracking apparatus for driverless vehicle Expired - Lifetime CA2188078C (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US554095P 1995-10-18 1995-10-18
US08/713,539 1996-09-13
US08/713,539 US5916285A (en) 1995-10-18 1996-09-13 Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle
US60/005,540 1996-09-13

Publications (2)

Publication Number Publication Date
CA2188078A1 CA2188078A1 (en) 1997-04-19
CA2188078C true CA2188078C (en) 2002-12-24

Family

ID=26674469

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002188078A Expired - Lifetime CA2188078C (en) 1995-10-18 1996-10-17 Motion tracking apparatus for driverless vehicle

Country Status (11)

Country Link
US (1) US5916285A (zh)
EP (1) EP0769735B1 (zh)
JP (1) JPH10307030A (zh)
CN (2) CN1182982C (zh)
AU (1) AU708305B2 (zh)
BR (1) BR9605158A (zh)
CA (1) CA2188078C (zh)
DE (2) DE69621738T2 (zh)
ES (1) ES2178690T3 (zh)
HU (1) HUP9602855A3 (zh)
PL (1) PL316549A1 (zh)

Families Citing this family (83)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19734247A1 (de) * 1997-08-07 1999-02-11 Litef Gmbh Driftsensor für Landfahrzeuge
EP1040296A4 (en) 1997-12-17 2003-08-20 James C O'meara LASER LIGHTING SYSTEM.
WO2003026474A2 (en) * 2001-09-26 2003-04-03 Friendly Robotics Ltd. Robotic vacuum cleaner
IL145680A0 (en) 2001-09-26 2002-06-30 Friendly Robotics Ltd Robotic vacuum cleaner
ES2268122T3 (es) * 2001-12-12 2007-03-16 Jervis B. Webb International Company Sistema y procedimiento de guiado de vehiculos sin conductor.
WO2004020267A2 (en) 2002-08-30 2004-03-11 Aethon, Inc. Robotic cart pulling vehicle
US8075243B2 (en) 2004-05-03 2011-12-13 Jervis B. Webb Company Automatic transport loading system and method
TW200540089A (en) * 2004-05-03 2005-12-16 Webb Int Co Jerwis B Automatic transport loading system and method
US7980808B2 (en) * 2004-05-03 2011-07-19 Jervis B. Webb Company Automatic transport loading system and method
US8192137B2 (en) 2004-05-03 2012-06-05 Jervis B. Webb Company Automatic transport loading system and method
US8210791B2 (en) * 2004-05-03 2012-07-03 Jervis B. Webb Company Automatic transport loading system and method
US20060276958A1 (en) * 2005-06-02 2006-12-07 Jervis B. Webb Company Inertial navigational guidance system for a driverless vehicle utilizing laser obstacle sensors
KR100690279B1 (ko) 2005-09-12 2007-03-09 주식회사 리트코 다목적 영상감지 시스템
WO2007047510A2 (en) * 2005-10-14 2007-04-26 Aethon, Inc. Robotic inventory management
US7418328B2 (en) * 2006-05-08 2008-08-26 Deere & Company Steering logic for self-propelled mower
US7617890B2 (en) * 2006-05-08 2009-11-17 Deere & Company Steering mechanism for self-propelled mower
CN100443350C (zh) * 2006-09-29 2008-12-17 西安理工大学 一种自动导航牵引车
KR100737818B1 (ko) 2006-12-18 2007-07-10 박운서 무인운반카트
KR100843096B1 (ko) * 2006-12-21 2008-07-02 삼성전자주식회사 이동 로봇의 주행 상태 판별 장치 및 방법
KR100771930B1 (ko) * 2007-07-26 2007-10-31 주정환 무인운반카트
KR100797552B1 (ko) * 2007-09-27 2008-01-24 주정환 무인운반카트
US20090128139A1 (en) * 2007-11-20 2009-05-21 Drenth Joseph B Magnet position locator
JP5499413B2 (ja) * 2009-02-13 2014-05-21 株式会社 神崎高級工機製作所 乗用型作業車両
JP2011022040A (ja) * 2009-07-16 2011-02-03 Tsubakimoto Chain Co 磁場分布測定装置及び磁場分布測定方法
KR101641231B1 (ko) * 2009-11-02 2016-07-20 엘지전자 주식회사 로봇청소기
CN101758855B (zh) * 2010-02-01 2011-07-27 中国科学院合肥物质科学研究院 一种无人驾驶车辆转向装置及其控制方法
US8508590B2 (en) * 2010-03-02 2013-08-13 Crown Equipment Limited Method and apparatus for simulating a physical environment to facilitate vehicle operation and task completion
US8538577B2 (en) * 2010-03-05 2013-09-17 Crown Equipment Limited Method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles
CN103608740B (zh) 2011-04-11 2017-06-30 克朗设备公司 使用经协调路径规划器有效调度多个自动非完整车辆的方法和设备
US9189900B1 (en) 2011-04-22 2015-11-17 Angel A. Penilla Methods and systems for assigning e-keys to users to access and drive vehicles
US9809196B1 (en) 2011-04-22 2017-11-07 Emerging Automotive, Llc Methods and systems for vehicle security and remote access and safety control interfaces and notifications
US9697503B1 (en) 2011-04-22 2017-07-04 Angel A. Penilla Methods and systems for providing recommendations to vehicle users to handle alerts associated with the vehicle and a bidding market place for handling alerts/service of the vehicle
US9648107B1 (en) 2011-04-22 2017-05-09 Angel A. Penilla Methods and cloud systems for using connected object state data for informing and alerting connected vehicle drivers of state changes
US11294551B2 (en) 2011-04-22 2022-04-05 Emerging Automotive, Llc Vehicle passenger controls via mobile devices
US11370313B2 (en) 2011-04-25 2022-06-28 Emerging Automotive, Llc Methods and systems for electric vehicle (EV) charge units and systems for processing connections to charge units
US9104537B1 (en) 2011-04-22 2015-08-11 Angel A. Penilla Methods and systems for generating setting recommendation to user accounts for registered vehicles via cloud systems and remotely applying settings
US10824330B2 (en) 2011-04-22 2020-11-03 Emerging Automotive, Llc Methods and systems for vehicle display data integration with mobile device data
US9536197B1 (en) 2011-04-22 2017-01-03 Angel A. Penilla Methods and systems for processing data streams from data producing objects of vehicle and home entities and generating recommendations and settings
US10217160B2 (en) * 2012-04-22 2019-02-26 Emerging Automotive, Llc Methods and systems for processing charge availability and route paths for obtaining charge for electric vehicles
US9171268B1 (en) 2011-04-22 2015-10-27 Angel A. Penilla Methods and systems for setting and transferring user profiles to vehicles and temporary sharing of user profiles to shared-use vehicles
US9581997B1 (en) 2011-04-22 2017-02-28 Angel A. Penilla Method and system for cloud-based communication for automatic driverless movement
US10286919B2 (en) 2011-04-22 2019-05-14 Emerging Automotive, Llc Valet mode for restricted operation of a vehicle and cloud access of a history of use made during valet mode use
US9493130B2 (en) 2011-04-22 2016-11-15 Angel A. Penilla Methods and systems for communicating content to connected vehicle users based detected tone/mood in voice input
US9285944B1 (en) 2011-04-22 2016-03-15 Angel A. Penilla Methods and systems for defining custom vehicle user interface configurations and cloud services for managing applications for the user interface and learned setting functions
US9180783B1 (en) 2011-04-22 2015-11-10 Penilla Angel A Methods and systems for electric vehicle (EV) charge location color-coded charge state indicators, cloud applications and user notifications
US9288270B1 (en) 2011-04-22 2016-03-15 Angel A. Penilla Systems for learning user preferences and generating recommendations to make settings at connected vehicles and interfacing with cloud systems
US9365188B1 (en) 2011-04-22 2016-06-14 Angel A. Penilla Methods and systems for using cloud services to assign e-keys to access vehicles
US10289288B2 (en) 2011-04-22 2019-05-14 Emerging Automotive, Llc Vehicle systems for providing access to vehicle controls, functions, environment and applications to guests/passengers via mobile devices
US11132650B2 (en) 2011-04-22 2021-09-28 Emerging Automotive, Llc Communication APIs for remote monitoring and control of vehicle systems
US9818088B2 (en) 2011-04-22 2017-11-14 Emerging Automotive, Llc Vehicles and cloud systems for providing recommendations to vehicle users to handle alerts associated with the vehicle
US9229905B1 (en) 2011-04-22 2016-01-05 Angel A. Penilla Methods and systems for defining vehicle user profiles and managing user profiles via cloud systems and applying learned settings to user profiles
US9139091B1 (en) 2011-04-22 2015-09-22 Angel A. Penilla Methods and systems for setting and/or assigning advisor accounts to entities for specific vehicle aspects and cloud management of advisor accounts
US11270699B2 (en) 2011-04-22 2022-03-08 Emerging Automotive, Llc Methods and vehicles for capturing emotion of a human driver and customizing vehicle response
US9348492B1 (en) 2011-04-22 2016-05-24 Angel A. Penilla Methods and systems for providing access to specific vehicle controls, functions, environment and applications to guests/passengers via personal mobile devices
US9215274B2 (en) 2011-04-22 2015-12-15 Angel A. Penilla Methods and systems for generating recommendations to make settings at vehicles via cloud systems
US9371007B1 (en) 2011-04-22 2016-06-21 Angel A. Penilla Methods and systems for automatic electric vehicle identification and charging via wireless charging pads
US9346365B1 (en) 2011-04-22 2016-05-24 Angel A. Penilla Methods and systems for electric vehicle (EV) charging, charging unit (CU) interfaces, auxiliary batteries, and remote access and user notifications
US9963145B2 (en) 2012-04-22 2018-05-08 Emerging Automotive, Llc Connected vehicle communication with processing alerts related to traffic lights and cloud systems
US10572123B2 (en) 2011-04-22 2020-02-25 Emerging Automotive, Llc Vehicle passenger controls via mobile devices
US9123035B2 (en) 2011-04-22 2015-09-01 Angel A. Penilla Electric vehicle (EV) range extending charge systems, distributed networks of charge kiosks, and charge locating mobile apps
US11203355B2 (en) 2011-04-22 2021-12-21 Emerging Automotive, Llc Vehicle mode for restricted operation and cloud data monitoring
US9230440B1 (en) 2011-04-22 2016-01-05 Angel A. Penilla Methods and systems for locating public parking and receiving security ratings for parking locations and generating notifications to vehicle user accounts regarding alerts and cloud access to security information
US8655588B2 (en) 2011-05-26 2014-02-18 Crown Equipment Limited Method and apparatus for providing accurate localization for an industrial vehicle
US8548671B2 (en) 2011-06-06 2013-10-01 Crown Equipment Limited Method and apparatus for automatically calibrating vehicle parameters
US8594923B2 (en) 2011-06-14 2013-11-26 Crown Equipment Limited Method and apparatus for sharing map data associated with automated industrial vehicles
US8589012B2 (en) 2011-06-14 2013-11-19 Crown Equipment Limited Method and apparatus for facilitating map data processing for industrial vehicle navigation
US20140058634A1 (en) 2012-08-24 2014-02-27 Crown Equipment Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
US9056754B2 (en) 2011-09-07 2015-06-16 Crown Equipment Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
DE102011087072A1 (de) * 2011-11-25 2013-05-29 Schaeffler Technologies AG & Co. KG Elektrisch betriebener Transportwagen
CN102632891B (zh) * 2012-04-06 2014-09-17 中国人民解放军军事交通学院 无人驾驶车辆实时跟踪行驶轨迹的计算方法
CN104002861B (zh) * 2014-05-26 2017-07-11 武汉理工大学 一种智能车辆的转向装置及其控制方法
CN104278616A (zh) * 2014-09-28 2015-01-14 广东惠利普路桥信息工程有限公司 无人驾驶的摊铺机
US10077420B2 (en) 2014-12-02 2018-09-18 Histogenics Corporation Cell and tissue culture container
CN105197105A (zh) * 2015-09-21 2015-12-30 长春格瑞特农业装备科技有限公司 一种适用于水田作业的拖拉机自动驾驶系统
JP2017090051A (ja) * 2015-11-02 2017-05-25 セイコーエプソン株式会社 検出装置、検出システム及び移動体
CN105365483B (zh) * 2015-12-23 2019-06-25 联想(北京)有限公司 越障脚轮组件及包括该越障脚轮组件的移动式装置
US10037033B2 (en) * 2016-06-15 2018-07-31 Ford Global Technologies, Llc Vehicle exterior surface object detection
CN109116845B (zh) * 2018-08-17 2021-09-17 华晟（青岛）智能装备科技有限公司 自动导引运输车定位方法、定位系统及自动导引运输系统
CN109764838B (zh) * 2018-12-13 2021-11-23 阿波罗智能技术(北京)有限公司 确定自动驾驶系统的安装位的方法、装置及设备
CN111982526A (zh) * 2019-05-22 2020-11-24 北京京东尚科信息技术有限公司 一种无人驾驶的测试系统
CN111638712B (zh) * 2020-05-26 2021-11-16 三一专用汽车有限责任公司 自动驾驶车辆横向运动控制方法、装置和自动驾驶车辆
DE102020007378B3 (de) 2020-12-03 2021-11-11 Sew-Eurodrive Gmbh & Co Kg Rolleneinheit für ein Fahrzeug und Fahrzeug
CN113212066A (zh) * 2021-05-17 2021-08-06 上海亨临光电科技有限公司 一种新型脚轮装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4347573A (en) * 1978-10-30 1982-08-31 The Singer Company Land-vehicle navigation system
DE3003287A1 (de) * 1979-02-05 1980-08-14 Volvo Ab Selbststeuerndes fahrzeug
GB2158965B (en) * 1984-05-16 1988-05-18 Gen Electric Co Plc Driverless vehicle
GB8501012D0 (en) * 1985-01-16 1985-02-20 Gen Electric Co Plc Automated vehicle drift correction
US4679645A (en) * 1985-02-27 1987-07-14 Galloway James J Mechanical device for transmitting signals through a swivel connection
US4667365A (en) * 1986-02-24 1987-05-26 M-B Company, Inc. Of Wisconsin Anti-shimmy caster wheel assembly using a speed sensor and braking action about the verticle axis
US4768536A (en) * 1987-03-06 1988-09-06 Hawkins F Jr Motorized walker
US5058023A (en) * 1990-07-30 1991-10-15 Motorola, Inc. Vehicle position determining apparatus
US5175415A (en) * 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
US5218556A (en) * 1990-12-24 1993-06-08 Fmc Corporation Steering pivot axis orientation measurement apparatus and method
IT1254813B (it) * 1992-02-21 1995-10-11 Dispositivo per il controllo direzionale e dello spostamento laterale di un veicolo in movimento
EP0576070B1 (en) * 1992-06-22 1997-06-18 Koninklijke Philips Electronics N.V. Error correction device for vehicle odometer
US5364113A (en) * 1992-10-23 1994-11-15 Motor Coach Industries Self-steering axle for vehicles

Also Published As

Publication number Publication date
DE69626230D1 (de) 2003-03-20
CN1158804A (zh) 1997-09-10
DE69621738T2 (de) 2002-10-24
AU7025696A (en) 1997-05-01
BR9605158A (pt) 1998-07-14
PL316549A1 (en) 1997-04-28
CN1182982C (zh) 2005-01-05
DE69621738D1 (de) 2002-07-18
HUP9602855A3 (en) 2000-03-28
CA2188078A1 (en) 1997-04-19
HU9602855D0 (en) 1996-11-28
HUP9602855A2 (en) 1997-07-28
EP0769735B1 (en) 2002-06-12
EP0769735A3 (en) 1998-05-20
CN1071653C (zh) 2001-09-26
CN1310107A (zh) 2001-08-29
DE69626230T2 (de) 2003-06-26
ES2178690T3 (es) 2003-01-01
AU708305B2 (en) 1999-07-29
EP0769735A2 (en) 1997-04-23
JPH10307030A (ja) 1998-11-17
US5916285A (en) 1999-06-29

Similar Documents

Publication Publication Date Title
CA2188078C (en) Motion tracking apparatus for driverless vehicle
US5764014A (en) Automated guided vehicle having ground track sensor
JP2572968B2 (ja) 自律走行車の誘導方法
JP2001515237A (ja) 誘導ビームを使用した自律型運動ユニットのドッキング方法
CN112130558B (zh) 一种基于差速轮组agv的导航系统及控制方法
JPH075922A (ja) 無人作業車の操舵制御方法
EP1102140B1 (en) Motion tracking apparatus for driverless vehicle
CN207540557U (zh) 一种用于agv小车的短时精确定位的装置
JP4382266B2 (ja) 移動体の位置計測方法及び計測装置
JP3128455B2 (ja) 搬送台車の自動運転制御装置
MXPA96004929A (en) Apparatus for following the movement of a vehicle without conduct
JP3846828B2 (ja) 移動体の操舵角制御装置
JP2983527B1 (ja) 車両の計測装置
CN109916403A (zh) 一种用于agv小车的短时精确定位的装置及方法
JP2556737B2 (ja) 車体位置検出装置
JPH07101369B2 (ja) 自動操舵制御方式
JPH05324057A (ja) 自律走行方式の無人搬送車
JP2543873Y2 (ja) 無人搬送車の偏角検出装置
JP3134551B2 (ja) 無人搬送車の走行制御方法
JPS63318608A (ja) 無人搬送車
JPH0456325B2 (zh)
JPH11271042A (ja) 移動体の位置計測装置
JPH05313735A (ja) 自律走行方式の無人搬送車
JPH11161335A (ja) 無人搬送車の制御方式
JPS62221707A (ja) ジヤイロ誘導式無人搬送車

Legal Events

Date Code Title Description
MKEX Expiry

Effective date: 20161017